考虑探测构形的多飞行器协同探测与制导一体化设计
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摘要
针对多飞行器协同拦截机动目标时几何构形会影响协同探测和制导效果的问题,基于最优控制理论提出一种考虑探测构形的协同探测与制导一体化设计方法。基于飞行器相对运动学、动力学方程和双视线协同探测原理,建立了协同拦截模型。在制导设计中引入视线分离角参量以调制协同探测几何构形、减小相对距离探测误差,从而在制导全程增强协同探测效果。将相对距离协同探测结果应用到剩余时间和制导律解算中,基于最优控制理论实现协同探测与制导环节一体化设计。仿真结果表明:在目标进行不同程度机动的情况下,与修正比例导引律相比,所提方法在协同探测和制导方面均具有明显优势。
Aiming at the problem that the geometric configuration of multi-aircraft co-intercepting a maneuvering target will affect the cooperative detection and guidance effectiveness,the cooperative detection and guidance are considered uniformly. Based on the optimal control theory,an integrated design method of the cooperative detection and guidance considering the measurement configuration is proposed. Firstly,the cooperative intercept model is established based on the relative kinematics,kinetic equation of the aircraft and double LOS co-detection principle. Secondly,the separation angle parameter is introduced in the guidance design process to modulate the co-detection geometric configuration and reduce the relative distance detection error,so as to enhance the synergistic detection effectiveness throughout the guidance. Then,the relative distance of the co-detection is applied to solving the time-to-go and guidance law. Based on the optimal control theory,the integration design of the cooperative detection and guidance is achieved. Simulation results show that in the case of different maneuvers of an evader,compared with the augmented proportional navigation,the proposed method has obvious advantages in cooperative detection and guidance process.
Aiming at the problem that the geometric configuration of multi-aircraft co-intercepting a maneuvering target will affect the cooperative detection and guidance effectiveness,the cooperative detection and guidance are considered uniformly. Based on the optimal control theory,an integrated design method of the cooperative detection and guidance considering the measurement configuration is proposed. Firstly,the cooperative intercept model is established based on the relative kinematics,kinetic equation of the aircraft and double LOS co-detection principle. Secondly,the separation angle parameter is introduced in the guidance design process to modulate the co-detection geometric configuration and reduce the relative distance detection error,so as to enhance the synergistic detection effectiveness throughout the guidance. Then,the relative distance of the co-detection is applied to solving the time-to-go and guidance law. Based on the optimal control theory,the integration design of the cooperative detection and guidance is achieved. Simulation results show that in the case of different maneuvers of an evader,compared with the augmented proportional navigation,the proposed method has obvious advantages in cooperative detection and guidance process.
引文
[1]姚郁,郑天宇,贺风华等.飞行器末制导中的几个热点问题与挑战[J].航空学报,2015,36(8):2696-2716.[Yao Yu,Zheng Tian-yu,He Feng-hua,et al.Several hot issues and challenges in terminal guidance of flight vehicles[J].Acta Aeronautica et Astronautica Sinica,2015,36(8):2696-2716.]
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[19]叶继坤,雷虎民,肖增博等.基于普通分离原理的制导/估计综合设计方法[J].航空学报,2011,32(1):137-143.[Ye Ji-kun,Lei Hu-min,Xiao Zeng-bo,et al.Integration design method of estimation and guidance based on general separation theorem[J].Acta Aeronautica et Astronautica Sinica,2011,32(1):137-143.]
[20]李东岩,张志峰,王飞等.基于制导/估计综合设计的协同制导律[J].北京理工大学学报,2012,32(51):508-512.[Li Dong-yan,Zhang Zhi-feng,Wang Fei,et al.Cooperative guidance law based on integration design of guidance and estimation[J].Transactions of Beijing Institute of Technology,2012,32(5):508-512.]
[21]樊世杰,范红旗,肖怀铁等.末制导中估计器与制导律设计方法新进展[J].自动化学报,2015,41(1):38-46.[Fan Shi-jie,Fan Hong-qi,Xiao Huai-tie,et al.New progress of estimator and guidance law design in terminal guidance[J].Acta Automatica Sinica,2015,41(1):38-46.]
[22]Guo Y,Yao Y,Wang S C,et al.Maneuver control strategies to maximize prediction errors in ballistic middle phase[J].Journal of Guidance,Control,and Dynamics,2013,36(4):1225-1234.
[23]Guo Y,Wang S C,Yao Y,et al.Evader maneuver on consideration of energy consumption in flight vehicle interception scenarios[J].Aerospace Science and Technology,2011,15(7):519-525.
[24]Guo Y,Yao Y,Wang S C,et al.Input output finite-time stabilization of linear systems with finite time boundedness[J].ISA Transactions,2014,53(4):977-982.
[2]Nardone S C,Lindgren A,and Gong K.Fundamental properties and performance of conventional bearings-only target motion analysis[J].IEEE Transactions on Automatic Control,1984,29(9):775-787.
[3]Hodgson J.Trajectory optimization using differential inclusion to minimize uncertainty in target location estimation[C].AIAA Guidance,Navigation,and Control Conference,San Francisco,USA,2005.
[4]张鹏.基于有限时间系统理论的多飞行器协同拦截问题研究[D].哈尔滨:哈尔滨工业大学,2013.[Zhang Peng.Research on cooperative interception using multiple flight vehicles based on finite-time system theory[D].Harbin:Harbin Institute of Technology,2013.]
[5]Liu Y F,Qi N M and Shan J J.Cooperative interception with double-line-of-sight-measuring[C].AIAA Guidance,Navigation,and Control Conference,2013.
[6]Chen T,Xu S J.Approach guidance with double-line-of-sightmeasuring navigation constraint for autonomous rendezvous[J].Journal of Guidance,Control,and Dynamics,2011,34(3):678-687.
[7]Fonod R,Shima T.Estimation enhancement by cooperatively imposing relative intercept angles[J].Journal of Guidance,Control,and Dynamics,2017,40(7):1711-1725.
[8]Fonod R,Shima T.Estimation enhancement by imposing a relative intercept angle for defending missiles[C].AIAA Guidance,Navigation,and Control Conference,Grapevine,USA,2017.
[9]Shaferman V,Shima T.Cooperative optimal guidance laws for imposing a relative intercept angle[C].AIAA Guidance,Navigation,and Control Conference,Minnesota,USA,2012.
[10]Shaferman V,Shima T.Cooperative optimal guidance laws for imposing a relative intercept angle[J].Journal of Guidance,Control,and Dynamics,2015,38(8):1395-1408.
[11]Balhance N,Weiss M and Shima T.Cooperative guidance law for intrasalvo tracking[J].Journal of Guidance,Control,and Dynamics,2017,40(6):1441-1456.
[12]朱柏羊.探测制导一体化设计问题研究[D].哈尔滨:哈尔滨工业大学,2015.[Zhu Bai-yang.Research on integrated design of estimation and guidance[D].Harbin:Harbin Institute of Technology,2015.]
[13]孙胜,张华明,周荻.考虑自动驾驶仪动特性的终端角度约束滑模导引律[J].宇航学报,2013,34(1):69-78.[Sun Sheng,Zhang Hua-ming,Zhou Di.Sliding mode guidance law with autopilot lag for terminal angle constrained trajectories[J].Journal of Astronautics,2013,34(1):69-78.]
[14]刁兆师,单家元.带末端攻击角约束连续有限时间稳定制导律[J].宇航学报,2014,35(10):1141-1149.[Diao Zhaoshi,Shan Jia-yuan.Continuous finite-time stabilization guidance law for terminal impact angle constrained flight trajectory[J].Journal of Astronautics,2014,35(10):1141-1149.]
[15]宋俊红,宋申民,徐胜利.一种拦截机动目标的多导弹协同制导律[J].宇航学报,2016,37(12):1306-1314.[Song Jun-hong,Song Shen-min,Xu Sheng-li.A cooperative guidance law for multiple missiles to intercept maneuvering target[J].Journal of Astronautics,2016,37(12):1306-1314.]
[16]王青,王通,董朝阳.切换多胞飞行器的变增益H∞跟踪控制[J].宇航学报,2015,36(10):1133-1139.[Wang Qing,Wang Tong,Dong Chao-yang.Variable gain H∞tracking control for switched polytopic vehicle[J].Journal of Astronautics,2015,36(10):1133-1139.]
[17]路遥,王青,董朝阳.输出重定义的高超声速飞行器鲁棒自适应控制律设计[J].宇航学报,2014,35(3):331-339.[Lu Yao,Wang Qing,Dong Chao-yang.A study on output redefinition robust adaptive control method for hypersonic vehicle[J].Journal of Astronautics,2014,35(3):331-339.]
[18]吴云洁,张聪.主从编队反舰导弹末制导段一体化位姿控制[J].宇航学报,2016,37(12):1315-1322.[Wu Yun-jie,Zhang Cong.Integrated control of position and attitude for terminal guidance of leader-follower anti-ship missiles[J].Journal of Astronautics,2016,37(12):1315-1322.]
[19]叶继坤,雷虎民,肖增博等.基于普通分离原理的制导/估计综合设计方法[J].航空学报,2011,32(1):137-143.[Ye Ji-kun,Lei Hu-min,Xiao Zeng-bo,et al.Integration design method of estimation and guidance based on general separation theorem[J].Acta Aeronautica et Astronautica Sinica,2011,32(1):137-143.]
[20]李东岩,张志峰,王飞等.基于制导/估计综合设计的协同制导律[J].北京理工大学学报,2012,32(51):508-512.[Li Dong-yan,Zhang Zhi-feng,Wang Fei,et al.Cooperative guidance law based on integration design of guidance and estimation[J].Transactions of Beijing Institute of Technology,2012,32(5):508-512.]
[21]樊世杰,范红旗,肖怀铁等.末制导中估计器与制导律设计方法新进展[J].自动化学报,2015,41(1):38-46.[Fan Shi-jie,Fan Hong-qi,Xiao Huai-tie,et al.New progress of estimator and guidance law design in terminal guidance[J].Acta Automatica Sinica,2015,41(1):38-46.]
[22]Guo Y,Yao Y,Wang S C,et al.Maneuver control strategies to maximize prediction errors in ballistic middle phase[J].Journal of Guidance,Control,and Dynamics,2013,36(4):1225-1234.
[23]Guo Y,Wang S C,Yao Y,et al.Evader maneuver on consideration of energy consumption in flight vehicle interception scenarios[J].Aerospace Science and Technology,2011,15(7):519-525.
[24]Guo Y,Yao Y,Wang S C,et al.Input output finite-time stabilization of linear systems with finite time boundedness[J].ISA Transactions,2014,53(4):977-982.